16 citations · 79 across the 61 of their papers we have counts for
9 papers · 1 filter
Residual Compliant Policy: Learning Compliant Policies from Few Demonstrations
Chunyu Jiang, Yichen Cai, Shuai Li +6
Contact-rich manipulation requires a robot to be precise in free space to establish the intended contacts, and compliant once in contact to avoid excessive forces. Imitation learni…
Learning to Explore Hidden Kinematics for Articulated Object Manipulation
Ruiyao Liu, Boshu Lei, Zhuoyang Pan +1
The kinematics of an articulated object is often ambiguous from vision alone. Interaction resolves the ambiguity, and active perception methods exploit this by searching for the si…
OctoSense: Self-Supervised Learning for Multimodal Robot Perception
Anthony Bisulco, Jeremy Wang, Kostas Daniilidis +2
We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camera, an inertial measurement unit, RTK-corrected global positioning syst…
Reinforcement Learning for Flow-Matching Policies with Density Transport
Boshu Lei, Kostas Daniilidis, Antonio Loquercio
We present an online reinforcement learning (RL) algorithm for fine-tuning flow-matching policies in continuous-control problems. Our key insight is to view RL-based policy improve…
VGGT-HPE: Reframing Head Pose Estimation as Relative Pose Prediction
Vasiliki Vasileiou, Panagiotis P. Filntisis, Petros Maragos +1
Monocular head pose estimation is traditionally formulated as direct regression from a single image to an absolute pose. This paradigm forces the network to implicitly internalize…
Match-Any-Events: Zero-Shot Motion-Robust Feature Matching Across Wide Baselines for Event Cameras
Ruijun Zhang, Hang Su, Kostas Daniilidis +1
Event cameras have recently shown promising capabilities in instantaneous motion estimation due to their robustness to low light and fast motions. However, computing wide-baseline…
OmniGuide: Universal Guidance Fields for Enhancing Generalist Robot Policies
Yunzhou Song, Long Le, Yong-Hyun Park +7
Vision-language-action(VLA) models have shown great promise as generalist policies for a large range of relatively simple tasks. However, they demonstrate limited performance on mo…
Recurrent Equivariant Constraint Modulation: Learning Per-Layer Symmetry Relaxation from Data
Stefanos Pertigkiozoglou, Mircea Petrache, Shubhendu Trivedi +1
Equivariant neural networks exploit underlying task symmetries to improve generalization, but strict equivariance constraints can induce more complex optimization dynamics that can…
Electrostatics-Inspired Surface Reconstruction (EISR): Recovering 3D Shapes as a Superposition of Poisson's PDE Solutions
Diego Patiño, Knut Peterson, Kostas Daniilidis +1
Implicit shape representation, such as SDFs, is a popular approach to recover the surface of a 3D shape as the level sets of a scalar field. Several methods approximate SDFs using…